Method and apparatus utilizing time-expanded pulse sequences for distance measurement in a radar

• US 4,132,991 A
• Filed: 10/05/1976
• Issued: 01/02/1979
• Est. Priority Date: 10/07/1975
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Wocher, Berthold, Pfendler, Thomas, Pfitzemaier, Heinz
• Primary Examiner(s): Tubbesing, T.H.
• Application Number:
  US05/729,663
• Time in Patent Office: 819 Days
• Field of Search: 343/13 R, 343/17.1 R
• US Class Current: 342/134
• CPC Class Codes: G01S 7/2923 based on data belonging to a number of consecutive radar periods

Abstract

Pulse sequences from a radar receiver respectively made up of successive start pulses and of successive echo pulses from one or more targets are expanded in time by multiplication with an auxiliary pulse sequence differing slightly in repetition rate from the start pulse sequence. This enables circuits to be used with a lower degree of time resolution that would otherwise be needed, at the cost of proportionally reducing the number of individual measurements of the target distance, a cost which is of no substantial consequence in an anti-collision radar where the closing rates are small compared to the pulse repetition rate. A time-expanded sequence of reference pulses is similarly produced from the oscillator controlling the repetition of the radar pulses and the auxiliary oscillator in order to make the measurements independent of signal propagation times within these circuits. The time-expanded pulses to be evaluated are differentiated and the null passage instant of the differentiated pulses is used to find the maximum amplitude of the pulses and to determine which pulses should be disregarded on the basis of amplitude discrimination. A range gate controlled with reference to the velocity of the vehicle in which the radar is mounted, in combination with certain other factors, is used to exclude interference from irrevalent targets.

Claims

1. A method of processing radar echo pulse sequences having steep pulse flanks and a predetermined sequence frequency, comprising the steps of:

generating an auxiliary pulse sequence of a sequence frequency that differs slightly from said predetermined sequence frequency;

multiplying the pulses of a radar echo pulse sequence by the pulses of said auxiliary pulse frequency;

integrating the product signal produced by the multiplying step and thereby suppressing high frequency signal components and obtaining time-expanded radar signals, and

utilizing said time-expanded radar signals for control of indicator means as if said time-expanded signals were directly detected radar signals.

2. A method as defined in claim 1, in which the step of generating an auxiliary pulse sequence is carried out by generating auxiliary pulses at a frequency which differs from said predetermined frequency so little that at recurring intervals a plurality of successive pulses of said radar echo pulse sequence are overlapped in time by successive pulses of said auxiliary pulse sequence.

3. A method as defined in claim 2, in which the step of generating an auxiliary pulse sequence is carried out by generating pulses of an individual pulse duration that does not exceed the duration of the radar pulses of said radar echo pulse sequence.

4. A method as defined in claim 2, in which there are also performed the steps of:

differentiating the individual pulses of said time-expanded radar signals produced by the integrating step;

producing a pulse amplitude selection gate signal by reference to first positive and negative threshold voltages whenever one of said differentiated time-expanded signals exceeds both said first threshold voltages;

producing a null passage pulse for each of said differentiated time-expanded signals by reference to second positive and negative threshold voltages closer to zero voltage than said first threshold voltages, whenever one of said differentiated time-expanded signals exceeds both said second threshold voltages, and

selecting for processing only those of said null passage pulses which occur during the presence of one of said pulse amplitude selection gate signals.

5. In a pulse radar system which comprises means for generating and transmitting radar pulses, for receiving radar echo pulses and for evaluating or displaying a relation of the time of arrival of echo pulses and the time of transmission of corresponding radar pulses, the improvement which consists of the provision of:

a time scale expansion circuit interposed between the means for receiving radar echo pulses and the means for evaluating or displaying a relation of the time of arrival of echo pulses and the time of transmission of corresponding radar pulses, which time scale expansion circuit comprises oscillator means for generating an auxiliary pulse sequence having a pulse repetition rate differing slightly from that of said transmitted radar pulses, a multiplier circuit having one input connected to the output of the radar pulse receiver and another input connected to the output of said auxiliary pulse sequence oscillator means, an integrator having its input connected to the output of said multiplier circuit and having an output supplying a sequence of radar echo pulses of expanded time scale.

6. An improvement in a radar system as defined in claim 5, in which said radar system includes a master oscillator for controlling the transmission of radar pulses and in which a second time scale expansion circuit is provided having as an input, pulses corresponding in time to transmitted radar pulses and comprising a second multiplier circuit having a first input connected to the output of said master oscillator and a second input connected to the output of said auxiliary pulse sequence oscillator means, and also comprising a second integrator having its input connected to the output of said second multiplier and its output supplying a sequence of references pulses of expanded time scale for comparison with the output of said first integrator.

7. An improvement in a radar system as defined in claim 6, in which the means of the radar system for evaluating or displaying a relation of the time of arrival of echo pulses and the time of transmission of corresponding radar pulses is constituted by means for comparing said time of arrival with a critical time represented by an electrical signal produced by a variable range gate circuit comprised in said comparing means and connected so as to be triggered by pulses provided by the output of said second multiplier, said variable range gate generating circuit having another input at which an electrical signal representing the value of a critical time lapse is provided for contributing to the timing of the output of said variable range gate generating circuit.

8. An improvement in a radar system as defined in claim 5, in which there are provided echo amplitude discriminator means having as an input the time-expanded echo pulse output of said integrator, said echo amplitude discriminator means including:

a differentiating circuit for differentiating the time-expanded echo pulses from the output of said integrator and producing therefrom waveforms each having a positive half wave and a negative half wave;

means for comparing two positive voltage thresholds with the positive half wave portion of the output of said differentiating circuit and for comparing two negative voltage thresholds with the negative half wave portions of the output of said differentiating circuit, and

means for producing, from the outputs of said comparing means, a sequence of pulses each of a duration corresponding to the sum of the durations of peak portions respectively of the positive and negative half waves of one of said waveforms and of the transition of that waveform between said peak portions and for producing also from the output of said comparing means a sequence of shorter pulses indicative of the timing of the mid-portion of said transition waveform.